CN101362333A - Controller for robot having robot body and additional mechanism providing additional operation axes - Google Patents
Controller for robot having robot body and additional mechanism providing additional operation axes Download PDFInfo
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- CN101362333A CN101362333A CNA200810161105XA CN200810161105A CN101362333A CN 101362333 A CN101362333 A CN 101362333A CN A200810161105X A CNA200810161105X A CN A200810161105XA CN 200810161105 A CN200810161105 A CN 200810161105A CN 101362333 A CN101362333 A CN 101362333A
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- mechanism providing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39101—Cooperation with one or more rotating workpiece holders, manipulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43203—Limitation of speed, permissible, allowable, maximum speed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
A controller is provided to control operations of a robot provided with a robot body having operation axes to be controlled and an additional mechanism having an additional operation axis. The controller comprises a manual operation device, determination means and control means. The manual operation device enables a user to manually operate the operations of the robot body and the additional mechanism in parallel to each other. The determination means determines whether or not the additional mechanism is a linked state in operations with the robot body. The control means controls operation speeds of both the tip end of the operation axes of the robot body and the additional operation axis of the additional mechanism within a predetermined maximum speed, when the manual operation device is used to manually control the operations of the robot body and the additional mechanism in parallel to each other and the determination means determines that the additional mechanism is in a linked state in operations with the robot body.
Description
Technical field
The present invention relates to a kind of controller that is used for robot or robot device, and be particularly related to a kind of controller, be used for controlling the operation of robot, also be used for being controlled at the upward operation of adding on the manipulator shaft of the additional mechanism providing additional operation of operation of additional shaft (being the additional operations axle) with the robot body who upward operates at manipulator shaft (being robot manipulation's axle).
Background technology
A kind of industrial robot system is arranged to comprise robot body's (as articulated robot arm), such as being used for carrying out assembling work, also comprises robot controller, and it is used for controlling robot body's axle.Ancillary equipment, as be called as the manually operated console of ＂ teaching console (teaching pendant) ＂, be electrically connected to robot controller.This teaching console comprises the display unit with touch pad and is used for carrying out the button operation equipment of a plurality of button inputs.Robot system is set to respond the operation of operator on the teaching console, the robot program be activated and the robot body during teaching by manual control (straighforward operation).
This robot controller comprises: control circuit, this control circuit are formed by the microcomputer configuration basically; The SERVO CONTROL part, it has the drive circuit that is used for a plurality of manipulator shafts; Power-supply device; And interface unit, this interface unit is used for carrying out high speed data transfer between interface unit and ancillary equipment.Control circuit is suitable for the robot manipulation's axle (servomotor) by servo control unit driven machine human agent, for example, according to the robot program who imports in advance and store, various data and parameter, also have signal from the teaching console, and then operation and control robot body.
Utilizing among the teaching console manual operation machine human agent (during teaching operation), requiring the operator usually at contiguous robot body's place, workspace implementation and operation.In this case, the safety of guaranteeing the operator is very important.For this reason, open among the publication number No.09-193060 disclosedly as the Japan Patent spy, the translational speed of robot body's end is limited in the teaching process, can not surpass predetermined speed.Like this, according to ISO10218-1, when the ＂ robot was manually actuated, the maximum of the tool center point (TCP) speed of robot must be restricted to 250mm/ second, and was perhaps littler.＂
In above-mentioned robot system, will add on the robot body with the crew-served additional operations axle of robot body.Such additional operations axle comprises, instrument for example, and such as the driven by servomotor hand, attached to the arm end, and translational worktable (XY-translation device or rotary table), the robot body is assemblied in this workbench place.Except the drive circuit of the axle that is used to control the robot body, robot controller is configured to SERVO CONTROL can comprise also that partly (or can be provided with in addition) is used for the drive circuit of additional operations axle.Utilize this robot controller, robot body's control can be carried out simultaneously with the control of additional operations axle.
When carrying out above-mentioned teaching process, the robot system with above-mentioned additional operations axle can be controlled robot body's speed itself, can not surpass predetermined maximal rate under manual operation.Yet when additional operations axle and robot body's parallel work-flow, such robot system can cause that for example the speed of tool center point (TCP) surpasses predetermined maximal rate.Therefore, in this robot system with additional operations axle is manually controlled, need security fully reliably.
Summary of the invention
The present invention produces according to above-mentioned situation, and the purpose of this invention is to provide a kind of robot controller, and this robot controller fully guarantees the security in the manual operation with function of control additional operations axle (perhaps additional shaft) of additional mechanism providing additional operation and robot body itself.
To achieve these goals, on the one hand, the invention provides a kind of controller, be used to control robot with robot body and additional mechanism providing additional operation, this robot body has controlled operating axis, and this additional mechanism providing additional operation adds on the robot body and has controlled additional operations axle.This controller comprises manual handling equipment, its make the user can manual operation machine human agent and additional mechanism providing additional operation work parallelly; Determine device, it is used for determining whether additional mechanism providing additional operation is in linking status with the robot body in operation; And control device, be used for manual control machine device human agent and additional mechanism providing additional operation is worked parallelly and definite device when determining that this additional mechanism providing additional operation in operation is in linking status with the robot body at manual handling equipment, this control device is used for service speed with the additional operations axle of the service speed of robot body's operating axis end and additional mechanism providing additional operation and is controlled at and is scheduled in the maximal rate.For example, control device comprises first restraint device, and the service speed that it is used to limit the additional operations axle of robot body's the service speed of operating axis end and additional mechanism providing additional operation makes described service speed sum be lower than predetermined maximal rate.
Therefore, at additional mechanism providing additional operation (promptly, in the linking status of operating influence robot body's additional shaft) operation, under the manual manipulation mode of human agent and additional mechanism providing additional operation of operating machine, the phase acceleration (total speed) between the speed (tip speed) of the additional operations axle of additional mechanism providing additional operation and robot body's the tool center point (TCP) speed should not surpass predetermined maximal rate.In other words, be arranged so that like this that phase acceleration (each speed just) is limited to and can guarantees safe desired speed based on the predetermined speed limit algorithm.Therefore, under the situation of robot body and the mutual parallel work-flow of additional mechanism providing additional operation, for example, can prevent that robot body's TCP speed from surpassing maximal rate, fully to guarantee the security in the manual operation.
Preferably, control device comprises second restraint device, it is used to limit the service speed of the additional operations axle of robot body's the service speed of operating axis end and additional mechanism providing additional operation, make that each in the described service speed is lower than predetermined maximal rate when utilizing manual handling equipment the mutual parallel work-flow of robot body and additional mechanism providing additional operation manually to be controlled and definite device when determining that additional mechanism providing additional operation and robot body are not in linking status in operation.
Therefore, in non-linking status, just do not influence in robot body's the state of operation in the operation of additional operations axle, the additional operations the tip of the axis of additional mechanism providing additional operation and robot body's TCP speed are restricted to respectively is no more than maximal rate.Therefore, the speed of additional mechanism providing additional operation and robot body's TCP speed is controlled respectively guaranteeing security, and is not reduced especially.
In addition, the total value of two speed is scalars.Therefore, this speed is to be added on robot body's the scalar value of TCP speed by the scalar value with the speed of additional operations axle to calculate.Therefore, this computational process can be simplified, and simultaneously, does not surpass maximal rate because can predict robot body's TCP speed, so security is enhanced.
Description of drawings
In the accompanying drawings
Fig. 1 is the electrical structure schematic block diagram according to the robot controller of the embodiment of the invention;
Fig. 2 A is the flow chart that is used to set the program of link information;
Fig. 2 B is the flow chart that is used for the program of maximum speed limit;
Fig. 3 is the screen view that is used to set link information;
Fig. 4 A all illustrates the different mode of robot body and additional operations axle to 4C, or different relation between them; And
Fig. 5 A and 5B all illustrate an alternative embodiment of the invention, i.e. the pattern of robot body and additional operations axle or the relation between them, and it is different from Fig. 4 A to shown in the 4C.
The specific embodiment
Referring to figs. 1 to Fig. 4 A-4C, below embodiment of the present invention will be described.
Fig. 1 is the structural representation block diagram that for example is used to carry out the robot system 1 of assembling work according to an embodiment of the invention.The robot controller 2 of this embodiment is applicable to control robot body 3, and robot body 3 axle (being one or more operating axis) is added in control simultaneously to.For example the teaching console 4 as external equipment communicates to connect robot controller 2.
Fig. 4 A is to each the schematically illustrated robot body 3 of 4C and the pattern of additional operations axle (perhaps briefly being additional shaft).In brief, robot body 3 is configured to have for example vertical hinged small machine people of 6 axles.Robot body 3 also comprises the arm 5 with 6 operating axis (J1 is to J6), and described 6 operating axis are by separately driven by servomotor.Arm 5 has the end of band Work tool (work tool) 6 (as pneumatic anchor clamps).As shown in Figure 1, the suitable robot driver 7 (having six drive circuits) by robot controller 2 of servomotor who is used for control lever shaft (J1 is to J6) controls.
Under the pattern shown in Fig. 4 A, robot body 3 has X-axis linear translation mechanism 8 (axle J7) and Y-axis linear translation mechanism 9 (axle J8), and they are as the additional operations axle.In brief, this X-axis linear translation mechanism 8 is configured to have removable main body 8a and servomotor, this removable main body can be on X-direction linear translation, and this servomotor is used for this removable main body 8a of translation freely.Similarly, this Y-axis linear translation mechanism 9 is configured to have removable main body 9a and servomotor, this removable main body can be on Y direction linear translation, and this servomotor is used for this removable main body 9a of translation freely.
Under this pattern, robot body 3 pedestal is installed on the removable main body 8a of X-axis linear translation mechanism 8.Therefore, can guarantee that entire machine human agent 3 carries out translation by mechanism 8 on X-direction.Y-axis linear translation mechanism 9 is provided with irrelevantly with robot body 3.Be arranged so that like this workpiece supported on for example removable main body 9a can translation on Y direction, so as with robot body 3 (and X-axis linear translation mechanism 8) collaborative work.
Pattern shown in Fig. 4 B and the 4C all is equipped with XY translation mechanism 10.As is known, XY translation mechanism 10 comprises X-axis translation mechanism part 10a (axle J7), and it extends on X-direction and Y-axis translation mechanism part 10b (axle J8), meet at right angles setting and extend along Y direction of its and the part 10a of mechanism.The part 10a of mechanism is arranged on the X-direction driving translation mechanism part 10b freely by servomotor.The part 10b of mechanism is arranged in the removable main body 10c of driving translation freely that passes through servomotor on the Y direction.
In the pattern shown in Fig. 4 B, robot body 3 pedestal is installed on the removable main body 10c of XY translation mechanism 10.Therefore, can guarantee that entire machine human agent 3 carries out translation by XY translation mechanism 10 on X and Y direction.In the pattern shown in Fig. 4 C, XY translation mechanism 10 is provided with irrelevantly with robot body 3.Be arranged so that so the workpiece that kept on the removable main body 10c can translation on X and Y direction, with robot body's 3 collaborative works.
As shown in Figure 1, be used for X and Y-axis linear translation mechanism 8 and 9 and the additional operations axle J7 of XY translation mechanism 10 and the servomotor of J8, be suitable for additional shaft driver 11 (being two drive circuits in this case) control by robot controller 2.It is maximum up to 4 additional operations axles that additional shaft driver 11 is configured to control.
The robot controller 2 of this embodiment is configured to rectangle box-like framework (not shown), and has the microcomputer as critical piece, and it also has the control module 12 that is used for controlling integral body, as shown in Figure 1.Robot controller 2 comprises robot driver 7 and above-mentioned additional shaft driver 11, and program storage 13, operating parameter memory 14 and console interface (I/F) 15, and they are all electric and communicate to connect control module 12.Though do not illustrate, robot controller 2 also comprises and being used for and ancillary equipment, as the computer that is used to programme and image processor and power supply, the interface that connects.
For example program storage 13 store by teaching console 4 and computer input with the robot program who is provided with.Operating parameter memory 14 is applicable to store various kinds of data, comprises that robot body 3 moves to the target position data and the various parameter of target location.As described later, memory 14 is suitable as the next storing predetermined link information of link information storage device.Teaching console 4 is arranged to be connected to console I/F15 with communication mode.
Like this, the operator can utilize teaching console 4 to carry out multiple function, as handling and be provided with additional operations axle (or additional shaft) J7 and the J8 of robot body 3 and translation mechanism 8 to 10.Particularly, can the operation push-button operating portion assign to robot program that retrieval stores (settings) in advance of operator tabulates and selects, and starting (operating automatically) robot body 3 and additional operations axle J7 and J8.In addition, the operator can also be provided with or Change Example such as robot program's various parameters.
In addition, the operator can assign to specify manual operation mode by the operation push-button operating portion.Under manual operation mode, the operation of button operation part can make the operator that the additional operations axle J7 and the J8 of robot body 3 and translation mechanism 8 to 10 are implemented manual operation, gives their various instructions (perhaps carrying out direct teaching) with the data based on for example target location (track of motion).Therefore, teaching console 4 is as manipulation device.
In the present embodiment, when the operator operates teaching console 4 and carries out manual operation modes with the additional operations axle J7 of manual operation machine human agent 3 and translation mechanism 8 to 10 and J8, the control module 12 of robot controller 2 is suitable for as speed limiting device, the speed that is used to limit robot body 3 tool center point (TCP) be no more than predetermined maximal rate (as, 250mm/sec), to guarantee safety.
In this, the operator can handle the default link informations of teaching console 4, and additional operations axle J7 that described link information is used to indicate this link whether to be in translation mechanism 8 to 10 and the operation of J8 can influence the state of robot body 3 operation.Default link information is suitable for being stored in the operating parameter memory 14.Fig. 3 illustrates the display part 16 of teaching console 4, and it is in the state that shows the screen view be used to be provided with link information.Can see that each operating axis J1 of robot body 3 is in linking status to J6 and additional operations axle J7, and additional operations axle J8 is in the non-linking status of the operation that does not influence robot body 3.
In the linking status during manual operation mode, the additional operations axle J7 of translation mechanism 8 to 10 and one or two (if any) among the J8 will influence the operation of robot body 3 (robot manipulation's axle J1 is to J6).In this case, (total) speed that control module 12 is applicable to addition between the speed (tip speed) of restriction additional operations axle and robot body's 3 the speed of tool center point (TCP) (promptly, the TCP speed of the speed of additional operations axle and robot body's 3 end), so that be no more than predetermined maximal rate, this general reference flow sheet in the back describes.In the present embodiment, the phase acceleration that has been limited refers to the speed that the scalar value addition of additional operations axle speed cone value and robot body's 3 TCP speed obtains.
On the other hand, in the non-linking status of manual operation mode, the additional operations axle J7 of translation mechanism 8 to 10 and J8 can not have influence on robot body 3 (manipulator shaft J1 is to J6).In this case, control module 12 is applicable to independent restriction additional operations axle J7 and the speed of J8 and robot body 3 TCP speed, makes them be no more than maximal rate.Be under the situation of linking status at a plurality of additional operations axles, the phase acceleration that control module 12 limits these a plurality of additional operations axles is no more than maximal rate.In addition, be under the situation of non-linking status at these a plurality of additional operations axles, the additional operations axle is restricted to respectively and is no more than maximal rate.
Below with reference to Fig. 2 A and 2B the operation of said structure is described.Fig. 2 A is the flow chart that the program of link information is set, and this program is carried out in robot controller 2.Fig. 2 B is the flow chart of the program of maximum speed limit, and it is carried out under manual operation mode by control module 12.When link information was set, user (operator) utilization teaching console 4 was indicated the screen view (referring to Fig. 3) that is used to be provided with link information on display part 16, and assigns to import link information (step S1) by the operation push-button operating portion.
In this case, if necessary, the parameter (radius of gyration when for example described additional shaft is rotating shaft) of input additional operations axle.After finishing link information, the parameter of link information of importing/being provided with and additional operations axle all is stored in (step S2) in the operating parameter memory 14.Should be appreciated that link information not necessarily must be provided with by teaching console 4, it can also be by the computer setting, and for example, this computer can link to each other with robot controller 2.
Fig. 3 is the example that is used to be provided with the screen view of link information, and shows link information on workbench.Workbench vertically shows link information 1, the 2...5 that represents link-group, and along continuous straight runs shows axle numbering (J1 is to J8).Mark J1 to J6 represents each axle of robot body 3, and mark J7 forward represents the additional operations axle.In link information, symbol ＂ 0 ＂ represents the axle (interlinked axes) of link mutually, and symbol ＂ X ＂ represents the axle of non-link.And the symbol ＂-＂ in the workbench represents to be provided with and finishes.
In the pattern shown in Fig. 4 A, X-axis linear translation mechanism 8 (additional shaft J7) is in the linking status of the operation that influences robot body 3.Therefore, as shown in Figure 3,1 axis J1 is represented by ＂ 0 ＂ to J7 at link information.Certainly, all make up robot body's manipulator shaft J1 to being in linking status to J6.On the other hand, the operation of Y-axis linear translation mechanism 9 (additional shaft J8) can not influence robot body 3 operation, and ＂ X ＂ represents that Y-axis linear translation mechanism is in non-linking status.Independently organize in (link information 2) at another, an axle J8 is configured to not and other Spindle Links (being represented by ＂ 0 ＂ separately).
In the pattern shown in Fig. 4 B, the linking status that the axle J7 of XY translation mechanism 10 and J8 are in the operation that influences robot body 3, therefore, axle J1 all in link information 1 will represent with ＂ 0 ＂ to J8.In the pattern shown in Fig. 4 C, the non-linking status that the axle J7 of XY translation mechanism 10 and J8 are in the operation that does not influence robot body 3, therefore will represent by ＂ 0 ＂ to J6 at link information 1 axis J1, and additional operations axle J7 and J8 are expressed as by ＂ X ＂ and are in non-linking status.Under these circumstances, additional operations axle J7 and J8, they link each other, will be represented by ＂ 0 ＂ in link information 2.
Under manual operation mode, in case link information such as above-mentioned the setting will be carried out the control shown in the flow chart of Fig. 2 B.Especially, under manual operation mode, the operator can operate teaching console 4, and command signal is input in the robot controller 2, and the additional operations axle J7 and the J8 of robot body 3 and translation mechanism 8 to 10 can be activated like this.Then, in step S11, with reference to the link information that is stored in the operating parameter memory 14, to determine existing of additional operations axle.
If there be not (step S11 is a "No") in the additional operations axle, robot body 3 TCP (tool center point) speed is calculated at step S12.On the other hand, if there be (step S11 is that ＂ is ＂) in the additional operations axle, additional operations the tip of the axis speed is calculated at step S13, and robot body 3 TCP speed is calculated at step S14 simultaneously.At step S15 subsequently, with reference to being stored in link information in the operating parameter memory 14, whether be in the state that links with robot body 3 to determine in the additional operations axle any one.
If the state (non-linking status) (step S15 is that ＂ denys ＂) that does not have the additional operations axle to be in to link with robot body 3, then at S12 to each speed itself that S14 is calculated, be counted as TCP speed at step S16.On the other hand, if any one in the additional operations axle is in the state (linking status) (step S15 is that ＂ is ＂) that links with robot body 3,, determine the existence of the axle of the axle of link and/or non-link then at subsequently step S17.
Based on definite process of step S17, for the axle of each non-link, this is used as TCP speed in step S16 the speed that has calculated.For the axle of link, the speed that is calculated by the scalar value addition of the speed that obtains at step S13 and S14 is used as TCP speed at step S18.Then, at step S19, robot body 3 and additional operations axle are controlled, make each TCP speed be no more than maximal rate (as 250mm/sec) and are configured to be equal to or less than the desired speed of maximal rate based on being stored in pre-defined algorithm in the program storage 13 in advance.
Therefore, in the pattern of Fig. 4 A, for example, the scalar value of the tip speed (speed of removable main body 8a) of the scalar value of robot body 3 TCP speed and X-axis linear translation mechanism 8 and be restricted to and be no more than maximal rate.And with this restriction irrelevant be that the tip speed of Y-axis linear translation mechanism 9 (speed of removable main body 9a) is restricted to and is no more than maximal rate.
In the pattern of Fig. 4 B, the scalar value of the scalar value of robot body 3 TCP speed and the tip speed of XY translation mechanism 10 (speed of removable main body 10c) and be restricted to and be no more than maximal rate.In addition, in the pattern of Fig. 4 C, robot body 3 TCP speed is restricted to and is no more than maximal rate.Limit irrespectively with this, the tip speed of XY translation mechanism 10 is restricted to and is no more than maximal rate.
As mentioned above, according to present embodiment, under the linking status of the operating influence robot body's 3 of the additional operations axle J7 of translation mechanism 8 to 10 and J8 operation, under the manual operation mode of human agent 3 and additional operations axle J7 and J8 of operating machines, the speed of additional operations axle J7 and J8 and robot body's 3 TCP speed all is restricted to and is no more than maximal rate.In other words, the phase acceleration is limited so that can guarantee safety.
On the other hand, can not have influence in the operation of the additional operations axle J7 of translation mechanism 8 to 10 and J8 under robot body 3 the non-linking status of operation, the speed of additional operations axle J7 and J8 and robot body's 3 TCP speed is restricted to respectively and is no more than maximal rate.Therefore, the speed of additional operations axle J7 and J8 and robot body's 3 TCP speed is controlled to guarantee safety respectively, and is not reduced especially.
According to present embodiment, the additional operations axle J7 of robot body 3 and translation mechanism 8 to 10 and the parallel work-flow of J8 can not allow robot body 3 TCP speed to surpass maximal rate, guarantee safe outstanding advantage fully thereby provide when manual operation.Especially in the present embodiment, the speed of addition is by calculating the former scalar value of service speed and the scalar value addition of the latter's TCP speed between additional operations axle J7 under linking status and J8 and the robot body 3, thereby simplified computational process.In addition, for example be no more than maximal rate, so security can be enhanced further because robot body 3 TCP speed can be predefined for.
(other embodiment)
Fig. 5 A and 5B illustrate other embodiment of the present invention.Among Fig. 5 A and the 5B each illustrates the pattern that is provided with additional shaft, and the additional operations axle (being linear axes) that described additional shaft and Fig. 4 A describe in the foregoing description shown in Fig. 4 C is different.Especially, in the pattern of Fig. 5 A, plate-like rotary table 21 (additional operations axle J7 is provided) is taken as the additional operations axle, and robot body 3 is installed on the rotary table 21.Rotary table 21 is configured to and can be rotated by servomotor 21a.Rotary table 21 is in the linking status of the operation that influences robot body 3.
When such rotary table 21 is arranged to the additional operations axle, be input as the additional shaft parameter at the step S1 of the flow chart shown in Fig. 2 A such as the radius of gyration of additional shaft and the parameter of gear ratio.The tip speed of additional shaft can be calculated than (speed reducing ratio) by the radius of gyration and gear at an easy rate.Perhaps, in the pattern shown in Fig. 5 A, the parameter of input can be a maximum rotating radius, and it is the summation of the maximum length of the radius of gyration, robot body's 3 the maximum length of arm 5 of rotary table 21 itself and Work tool 6.Therefore, the speed of robot body 3 speed and rotary table 21 can be easy to be calculated.
Pattern shown in Fig. 5 B has used servo hand (servo-hand) 22 as additional operations axle J7.Servo hand 22 is served as the Work tool of the end of the arm 5 that is attached to robot body 3, is provided with the rotating shaft by driven by servomotor, and is not shown.Servo hand 22 (additional operations axle J7 is provided) is in the linking status of the operation that influences robot body 3.In this case, only the radius of gyration of servo hand 22 is imported as the additional shaft parameter.
The foregoing description uses the manipulation device of teaching console 4 as manual operation machine human agent and additional operations axle.As the replacement of teaching console 4, computer (for example, keyboard and mouse) also can be used for manual operation.In addition, the teaching console can have the simple relatively structure that does not have display part 16.In addition, link information can use with the equipment that is used for the device separates of manual operation machine human agent and additional operations axle and be provided with.
In the aforementioned embodiment, the robot body is not limited to the form with articulated arm, but can be provided single maqting type arm.In the aforementioned embodiment, can be with X-axis linear translation mechanism 8, Y-axis linear translation mechanism 9, XY translation mechanism 10, two or more modes by suitable expectation in dish type rotary table 21 and the servo hand 22 make up, as additional mechanism providing additional operation.
At last, do not break away under the situation of spirit of the present invention and can carry out multiple different modification, for example aspect the overall structure of robot system 1, in robot body 3 configuration aspects with in the shape and the configuration aspects of robot controller 2, suitably to change and to implement the present invention.
Claims (14)
1, a kind of ROBOT CONTROL device that is used for, described robot has robot body and additional mechanism providing additional operation, described robot body has controlled operating axis, and described additional mechanism providing additional operation adds the robot body to and has controlled additional operations axle, this controller control:
Manual handling equipment, it makes the user can manual operation machine human agent and the parallel mutually operation of additional mechanism providing additional operation;
Determine device, its be used for determining additional mechanism providing additional operation in operation and the robot body whether be in linking status; And
Control device, when using manual handling equipment the parallel mutually operation of robot body and additional mechanism providing additional operation manually to be controlled and definite device when determining that additional mechanism providing additional operation is in linking status with the robot body in operation, the service speed of the service speed of this control device control robot body's operation the tip of the axis and the additional operations axle of additional mechanism providing additional operation is in is scheduled in the maximal rate.
2, controller as claimed in claim 1, wherein control device comprises first restraint device, the service speed that it is used to limit the additional operations axle of robot body's the service speed of operation the tip of the axis and additional mechanism providing additional operation makes the summation of these service speeds be lower than predetermined maximal rate.
3, controller as claimed in claim 2, wherein said total value are scalar.
4, controller as claimed in claim 1, wherein said predetermined maximal rate is 250mm/sec.
5, controller as claimed in claim 2, wherein control device comprises second restraint device, it is used to limit the service speed of the additional operations axle of robot body's the service speed of operation the tip of the axis and additional mechanism providing additional operation, make that each in the described service speed is lower than predetermined maximal rate when using manual handling equipment the operation that walks abreast mutually of robot body and additional mechanism providing additional operation manually to be controlled and definite device when determining that additional mechanism providing additional operation is not in linking status with the robot body in operation.
6, controller as claimed in claim 5, determine that wherein device comprises the memory that is used for stored information, this information shows whether additional mechanism providing additional operation is in linking status with the robot body in operation, and definite device also comprises and is used for taking in the reading device of the information of the restriction of being carried out by first and second restraint devices from memory read.
7, controller as claimed in claim 1, wherein said arm are the articulated type arms.
8, controller as claimed in claim 7, wherein control device comprises restraint device, this restraint device is used to limit the service speed of the additional operations axle of robot body's the service speed of operation the tip of the axis and additional mechanism providing additional operation, makes the summation of these service speeds be lower than predetermined maximal rate.
9, controller as claimed in claim 8, wherein control device comprises restraint device, this restraint device is used to limit the service speed of the additional operations axle of robot body's the service speed of operation the tip of the axis and additional mechanism providing additional operation, make that each in the described service speed is lower than predetermined maximal rate when using manual handling equipment the parallel mutually operation of robot body and additional mechanism providing additional operation manually to be controlled and definite device when determining that additional mechanism providing additional operation does not have not to be in linking status with the robot body in operation.
10, controller as claimed in claim 9, wherein said total value are scalar.
11, controller as claimed in claim 10, wherein the robot body comprises arm, and additional mechanism providing additional operation comprises X-axis linear moving mechanism, Y-axis linear moving mechanism, XY travel mechanism, rotary table and adds in the servo hand of arm end at least one to.
12, a kind of method of operating that is used to control robot, described robot has robot body and additional mechanism providing additional operation, described robot body has controlled operating axis, and described additional mechanism providing additional operation adds the robot body to and has controlled additional operations axle, described method control following steps:
Determine whether additional mechanism providing additional operation is in linking status with the robot body in operation; And
When the operation of robot was manually actuated and determines that additional mechanism providing additional operation is in linking status with the robot body in operation, the service speed of the service speed of control robot body's operation the tip of the axis and the additional operations axle of additional mechanism providing additional operation is in was scheduled in the maximal rate.
13, method as claimed in claim 12, wherein, the control step comprises that the service speed of the additional operations axle of the service speed of the operation the tip of the axis that limit robot body and additional mechanism providing additional operation makes the summation of these service speeds be lower than the step of being scheduled to maximal rate.
14, method as claimed in claim 13, it is further comprising the steps of wherein to control step: the service speed of the service speed of restriction robot body's operation the tip of the axis and the additional operations axle of additional mechanism providing additional operation, make operation when robot be manually actuated and determine additional mechanism providing additional operation in operation when not being in linking status that each in the described service speed is lower than predetermined maximal rate with the robot body.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007197439 | 2007-07-30 | ||
| JP2007197439A JP2009028871A (en) | 2007-07-30 | 2007-07-30 | Robot control device |
| JP2007-197439 | 2007-07-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101362333A true CN101362333A (en) | 2009-02-11 |
| CN101362333B CN101362333B (en) | 2012-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810161105XA Expired - Fee Related CN101362333B (en) | 2007-07-30 | 2008-07-30 | Controller for robot having robot body and additional mechanism providing additional operation axes |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20090037025A1 (en) |
| JP (1) | JP2009028871A (en) |
| KR (1) | KR101010761B1 (en) |
| CN (1) | CN101362333B (en) |
| DE (1) | DE102008035507A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104334322A (en) * | 2012-06-07 | 2015-02-04 | 三菱电机株式会社 | Robot control device |
| CN105190490A (en) * | 2013-03-19 | 2015-12-23 | 高姆技术有限责任公司 | 3d input device having an additional control dial |
| CN107336228A (en) * | 2016-04-28 | 2017-11-10 | 发那科株式会社 | The control device of the robot of the operation program of state of the display comprising additional shaft |
| CN109483536A (en) * | 2018-11-09 | 2019-03-19 | 珠海格力电器股份有限公司 | A kind of additional shaft adding method, device, storage medium and the robot of robot |
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| DE102011084412A1 (en) | 2011-10-13 | 2013-04-18 | Kuka Roboter Gmbh | Robot control method |
| EP3428754B1 (en) * | 2017-07-13 | 2023-02-15 | Siemens Aktiengesellschaft | Method for setting up a kinetic device and setup assembly |
| DE102018207921B3 (en) | 2018-05-18 | 2019-06-19 | Kuka Deutschland Gmbh | Controlling a robot |
| JP7384005B2 (en) | 2019-11-27 | 2023-11-21 | セイコーエプソン株式会社 | Control method and robot system |
| KR102521151B1 (en) * | 2021-05-26 | 2023-04-13 | 주식회사 뉴로메카 | Collaborative robot with collision detectiong function and collision detection method of collaborative robot |
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- 2008-07-30 US US12/219,913 patent/US20090037025A1/en not_active Abandoned
- 2008-07-30 CN CN200810161105XA patent/CN101362333B/en not_active Expired - Fee Related
- 2008-07-30 KR KR1020080074353A patent/KR101010761B1/en not_active IP Right Cessation
- 2008-07-30 DE DE102008035507A patent/DE102008035507A1/en not_active Ceased
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104334322A (en) * | 2012-06-07 | 2015-02-04 | 三菱电机株式会社 | Robot control device |
| CN104334322B (en) * | 2012-06-07 | 2016-05-04 | 三菱电机株式会社 | Robot controller |
| CN105190490A (en) * | 2013-03-19 | 2015-12-23 | 高姆技术有限责任公司 | 3d input device having an additional control dial |
| CN105190490B (en) * | 2013-03-19 | 2017-10-20 | 高姆技术有限责任公司 | 3D input equipments with additive regulating knob |
| US10133359B2 (en) | 2013-03-19 | 2018-11-20 | gomtec GmbH | 3D input device having an additional control dial |
| CN107336228A (en) * | 2016-04-28 | 2017-11-10 | 发那科株式会社 | The control device of the robot of the operation program of state of the display comprising additional shaft |
| CN107336228B (en) * | 2016-04-28 | 2019-06-04 | 发那科株式会社 | The control device of the robot of the operation program of state of the display comprising additional shaft |
| US10315305B2 (en) | 2016-04-28 | 2019-06-11 | Fanuc Corporation | Robot control apparatus which displays operation program including state of additional axis |
| CN109483536A (en) * | 2018-11-09 | 2019-03-19 | 珠海格力电器股份有限公司 | A kind of additional shaft adding method, device, storage medium and the robot of robot |
| CN109483536B (en) * | 2018-11-09 | 2020-06-23 | 珠海格力电器股份有限公司 | Additional axis adding method and device for robot, storage medium and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| US20090037025A1 (en) | 2009-02-05 |
| CN101362333B (en) | 2012-04-18 |
| DE102008035507A1 (en) | 2009-02-05 |
| JP2009028871A (en) | 2009-02-12 |
| KR20090013095A (en) | 2009-02-04 |
| KR101010761B1 (en) | 2011-01-25 |
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